Hip structure and robot

Abstract

A hip structure and a robot. The hip structure comprises: a first hip joint actuator (1) and a second hip joint actuator (2) for performing hip movement of a robot, wherein the first hip joint actuator (1) and the second hip joint actuator (2) are obliquely arranged. The hip structure reduces the size, improves the spatial compactness of the hip of the robot, improves the flexibility of the hip, and expands the range of movement of the hip.

Description

Hip structure and robotics

[0001] This disclosure claims priority to the Chinese patent application filed with the China Patent Office on February 14, 2024, with application number 202410178746.5 and invention name “Hip Structure and Robot,” the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present disclosure relates to the field of robotics technology, and in particular to the field of robotic hip structure technology. Background Art

[0003] A humanoid robot typically consists of four major components: actuators, a drive system, a control system, and an intelligent system. Similar in structure to the human body, a humanoid robot's actuators primarily include hand, wrist, waist, hip, and leg actuators. A robot's actuators are the devices that enable movement of its various parts. A robot's drive system transmits energy to the actuators.

[0004] The robot's hip structure is the core structure connecting the upper body and lower limbs, enabling the robot to perform various spatial movements. Through the appropriate design of the humanoid robot's hip structure, the robot can achieve multi-degree-of-freedom movements such as rotation, swinging, and bending, thus achieving more flexible robot movement.

[0005] In the current existing technology, in the hip structure design of a humanoid robot, the hip joint actuators on both sides extend parallel to each other from both sides of the waist actuator and are connected to the waist actuator, and are arranged side by side with the waist actuator.

[0006] Existing hip structures occupy a large amount of space laterally. The hip joint actuators are mounted parallel to each other on either side of the waist. The lateral width of the hip is the sum of the width of the waist and the width of the two joint actuators. This excessive lateral width of the hip makes it difficult for the robot to fit into confined environments. The bulky hip structure also makes miniaturization of the robot difficult.

[0007] The hip structure of the existing technology has low spatial compactness. Since the hip structure is the core structure connecting the upper body and lower limbs of the robot, the core mechanism needs to realize movements such as extending the legs and bending the waist. The upper body and thighs will have a large fold at the hip. The large hip structure will lead to a decrease in the spatial compactness of the robot.

[0008] The hip structure of the existing technology is not flexible enough to achieve lower limb movements. If other hip joint actuators are connected to the current hip joint actuator with the existing technology, they can only be connected on both sides or directly below the current hip joint actuator. This will not only further increase the space occupied by the hip structure, but also the ability of the robot to simulate human leg lifting movements when performing actions such as leg lifting is the key to meeting the flexibility of the movement. The structure in which the joint actuators are located parallel to the sides or directly below the hips makes it difficult to simulate common leg movements such as leg lifting. The joint actuator is far away from the base of the thigh, which will cause the movement to be clumsy.

[0009] Existing hip structures offer an insufficient range of motion for lower limb movements. The joint actuators are located parallel to or below the hips, with their axes of rotation parallel or perpendicular to the body's midline. This limits the range of motion for the legs and waist, which is also perpendicular or parallel to the body's midline. Summary of the Invention

[0010] The present disclosure provides a hip structure and a robot.

[0011] According to one aspect of the present disclosure, there is provided a hip structure comprising:

[0012] a first hip joint actuator and a second hip joint actuator for performing hip motion of the robot;

[0013] Wherein, the first hip joint actuator and the second hip joint actuator are arranged at an angle.

[0014] In some examples, the first hip joint actuator and the second hip joint actuator are symmetrically arranged;

[0015] One end of the first hip joint actuator close to the leg of the robot and one end of the second hip joint actuator close to the leg of the robot are directly connected.

[0016] In some examples, the first hip joint actuator and the second hip joint actuator are symmetrically arranged;

[0017] There is a gap between one end of the first hip joint actuator close to the waist of the robot and one end of the second hip joint actuator close to the waist of the robot;

[0018] A gap is formed between one end of the first hip joint actuator close to the leg of the robot and one end of the second hip joint actuator close to the leg of the robot.

[0019] In some examples, the hip structure further comprises:

[0020] a third hip joint actuator, connected to a side of the first hip joint actuator facing away from the second hip joint actuator;

[0021] a fourth hip joint actuator, connected to a side of the second hip joint actuator facing away from the first hip joint actuator;

[0022] wherein the first hip joint actuator and the second hip joint actuator perform hip motion in a first degree of freedom direction;

[0023] The third hip joint actuator and the fourth hip joint actuator perform hip motion in a second degree of freedom direction, and the first degree of freedom direction is different from the second degree of freedom direction.

[0024] In some examples, the hip structure further comprises:

[0025] a fifth hip joint actuator, connected to the third hip joint actuator;

[0026] a sixth hip joint actuator, connected to the fourth hip joint actuator;

[0027] The fifth hip joint actuator and the sixth hip joint actuator perform hip motion in a third degree of freedom direction, and the first degree of freedom direction is different from the second degree of freedom direction and the third degree of freedom direction.

[0028] In some examples, the first degree of freedom direction is a forward swing direction;

[0029] Either one of the second degree of freedom direction and the third degree of freedom direction is a roll direction, and the other is a rotation direction.

[0030] In some examples, the angle between the rotation axis direction of the first hip joint actuator and the tilt direction of the first hip joint actuator is 90 degrees; the rotation axis direction of the third hip joint actuator and the rotation axis direction of the first hip joint actuator form an angle;

[0031] The included angle between the rotation axis direction of the second hip joint actuator and the tilt direction of the second hip joint actuator is 90 degrees; the rotation axis direction of the fourth hip joint actuator and the rotation axis direction of the second hip joint actuator form an included angle.

[0032] In some examples, the angle between the rotation axis direction of the third hip joint actuator and the rotation axis direction of the fifth hip joint actuator is 90 degrees;

[0033] The included angle between the rotation axis direction of the fourth hip joint actuator and the rotation axis direction of the sixth hip joint actuator is 90 degrees.

[0034] In some examples, the hip structure further includes: a first hip connector and a second hip connector for fixing the third hip joint actuator; a third hip connector and a fourth hip connector for fixing the fourth hip joint actuator;

[0035] The first hip connector is provided with a first accommodating portion for accommodating the third hip joint actuator; one end of the second hip connector is connected to a side of the first hip joint actuator facing away from the second hip joint actuator, and the other end of the second hip connector is connected to an outer side of the first accommodating portion;

[0036] The third hip connector is provided with a second accommodating portion for accommodating the fourth hip joint actuator; one end of the fourth hip connector is connected to a side of the second hip joint actuator facing away from the first hip joint actuator, and the other end of the fourth hip connector is connected to the outer side of the second accommodating portion.

[0037] In some examples, the hip structure further includes: a fifth hip connector for fixing the fifth hip joint actuator; a sixth hip connector for fixing the sixth hip joint actuator;

[0038] The fifth hip connector is provided with a third accommodating portion for accommodating the fifth hip joint actuator. The fifth hip connector is provided with a first fixing portion connected to a side of the first hip joint actuator facing away from the second hip joint actuator. The first hip connector is provided with a second fixing portion connected to a side of the fifth hip joint actuator close to the third hip joint actuator.

[0039] The sixth hip connector is provided with a fourth accommodating portion for accommodating the sixth hip joint actuator. The sixth hip connector is provided with a third fixing portion connected to the side of the second hip joint actuator facing away from the first hip joint actuator; the third hip connector is provided with a fourth fixing portion connected to the side of the sixth hip joint actuator close to the fourth hip joint actuator.

[0040] In some examples, the hip structure further comprises:

[0041] a waist actuator for performing waist movements of the robot;

[0042] Wherein, the sides of the first hip joint actuator and the second hip joint actuator that are close to each other jointly define an internal accommodating space, and the waist actuator is located in the internal accommodating space.

[0043] In some examples, the hip structure further includes: a waist actuator connector for fixing the waist actuator, located in the internal accommodation space and connecting the first hip joint actuator and the second hip joint actuator.

[0044] In some examples, the number of the waist actuator is one;

[0045] The waist actuator connector includes: a first sub-connector, a main body of the first sub-connector connected to the output end of the waist actuator, and connecting parts of the first sub-connector located on both sides of the main body connected to the first hip joint actuator and the second hip joint actuator respectively;

[0046] A second sub-connector, the main body of the second sub-connector is connected to the rear end of the waist actuator away from the output end, and the connecting parts of the second sub-connector located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator.

[0047] In some examples, the number of the waist actuators is multiple;

[0048] The waist actuator connecting member includes: a plurality of connecting components respectively connected to the plurality of waist actuators, and an intermediate connecting member connecting the plurality of waist actuators.

[0049] In some examples, the lumbar actuator includes a first lumbar actuator and a second lumbar actuator;

[0050] The waist actuator connecting member includes: a first connecting component for fixing the first waist actuator, a second connecting component for fixing the second waist actuator, and a first intermediate connecting member connected to the first waist actuator and the second waist actuator;

[0051] Wherein, the first connection component includes:

[0052] a first sub-connector, wherein the main body of the first sub-connector is connected to the output end of the first lumbar actuator, and the connecting parts of the first sub-connector located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator;

[0053] a second sub-connector, wherein the main body of the second sub-connector is connected to the rear end of the first lumbar actuator away from the output end, and the connecting parts of the second sub-connector located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator;

[0054] The second connection component includes:

[0055] a third sub-connector, connected to the output end of the second waist actuator;

[0056] a fourth sub-connector, connected to a rear end of the second waist actuator facing away from the output end;

[0057] a fifth sub-connector, one end of which is connected to the third sub-connector and the other end of which is connected to the fourth sub-connector;

[0058] The first intermediate connecting member is provided with a first hollow portion and a second hollow portion. The first hollow portion is used to place the first lumbar actuator, and the second hollow portion is used to place the second lumbar actuator.

[0059] In some examples, the first waist actuator and the second waist actuator are arranged along the height direction of the robot, and the angle between the rotation axis direction of the first waist actuator and the rotation axis direction of the second waist actuator is 90 degrees;

[0060] The included angle between the orientation of the first hollow portion and the orientation of the second hollow portion is 90 degrees.

[0061] In some examples, a center line of an angle formed by an inclination direction of the first hip joint actuator and an inclination direction of the second hip joint actuator is referred to as a first center line;

[0062] The arrangement direction of the first lumbar actuator and the second lumbar actuator coincides with the first center line.

[0063] In some examples, either the first waist actuator or the second waist actuator is an actuator for performing lateral movement of the robot's waist, and the other is an actuator for performing pitch movement of the robot's waist.

[0064] In some examples, the lumbar actuator further includes: a third lumbar actuator; a connecting and fixing structure adapted to the third lumbar actuator is provided on the side of the fifth sub-connector facing away from the second lumbar actuator, and the third lumbar actuator is fixed to the side of the fifth sub-connector facing away from the second lumbar actuator through the connecting and fixing structure.

[0065] In some examples, the first hip joint actuator includes: a first hip joint actuator body, and a first hip joint actuator housing connected to a side of the first hip joint actuator body close to the waist actuator;

[0066] The second hip joint actuator includes: a second hip joint actuator body, and a second hip joint actuator housing connected to a side of the second hip joint actuator body close to the waist actuator.

[0067] According to another aspect of the present disclosure, a robot is provided, comprising the above-mentioned hip structure.

[0068] The present disclosure provides a hip structure and robot, comprising: a first hip joint actuator and a second hip joint actuator for executing hip movements of the robot; wherein the first and second hip joint actuators are arranged at an angle. First, the angled first and second hip joint actuators are located on either side of the waist structure. This angled arrangement creates a V-shaped arrangement, significantly reducing the lateral space occupied. The reduced lateral width of the hip makes the robot's hip more compact, making it easier to adapt to narrow environments and miniaturizing the robot. Second, because the hip structure is the core connecting the robot's upper torso and lower limbs, the angled first and second hip joint actuators facilitate hip movements such as leg extension and bending. When the upper torso and thigh fold significantly at the hip, the angled hip joint actuators can accommodate both lateral and longitudinal folding. Third, the flexibility of lower limb movements is enhanced. The two angled hip joint actuators are closer to the base of the thigh. More joint actuators can be connected to the two hip joint actuators, enabling lower limb movements such as forward swing, rotation, and side swing. This further reduces the space occupied by the hip structure, allowing the robot to simulate human leg-lifting movements. Fourthly, the tilted hip joint actuators have their rotation axes obliquely intersecting with the body's centerline; the other joint actuators have their rotation axes parallel or perpendicular to the body's midline. The coordination between the tilted and parallel or perpendicular joint actuators allows the legs and waist to move within a wider range, not just perpendicular or parallel to the body's midline, significantly expanding their range of motion.

[0069] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0071] FIG1 is a schematic structural diagram of a hip structure in an embodiment of the present disclosure;

[0072] FIG2 is a schematic structural diagram of the architecture of the hip structure in an embodiment of the present disclosure;

[0073] FIG3 is a schematic structural diagram of a hip structure in an embodiment of the present disclosure (an embodiment including multiple hip joint actuators);

[0074] FIG4 is an exploded view of a hip structure according to an embodiment of the present disclosure;

[0075] FIG5 is a front view of a hip structure according to an embodiment of the present disclosure (including an embodiment of multiple waist actuators);

[0076] FIG6 is a side view of a hip structure according to an embodiment of the present disclosure (including an embodiment of multiple waist actuators);

[0077] FIG7 is a schematic structural diagram of a waist actuator of a hip structure in an embodiment of the present disclosure.

[0078] Description of reference numerals:

[0079] 1-first hip joint actuator, 11-first hip joint actuator body, 12-first hip joint actuator housing;

[0080] 2-second hip joint actuator, 21-second hip joint actuator body, 22-second hip joint actuator housing;

[0081] 3-first waist actuator, 31-output end of the first waist actuator, 32-rear end of the first waist actuator;

[0082] 4-second waist actuator, 41-output end of the second waist actuator, 42-rear end of the second waist actuator;

[0083] 5-first connecting component, 51-first sub-connector, 52-second sub-connector;

[0084] 6-second connecting component, 61-third sub-connector, 62-fourth sub-connector, 63-fifth sub-connector;

[0085] 7-first intermediate connecting member;

[0086] 8-third waist actuator;

[0087] 01-Third hip joint actuator;

[0088] 02-Second hip connector;

[0089] 03-first hip connector, 031-first accommodating portion, 032-second fixing portion;

[0090] 04-Fifth hip joint actuator;

[0091] 05-five hip connectors, 051-third accommodating portion, 052-first fixing portion;

[0092] 06-Fourth hip joint actuator;

[0093] 07-Fourth hip connector;

[0094] 08-third hip connector, 081-second accommodating portion, 082-fourth fixing portion;

[0095] 09-sixth hip joint actuator;

[0096] 10-sixth hip connector, 101-fourth accommodating portion, 102-third fixing portion;

[0097] S-internal accommodation space; D1-tilt direction of the first hip joint actuator; D2-rotation axis direction of the first hip joint actuator; D3-rotation axis direction of the third hip joint actuator; D4-rotation axis direction of the fifth hip joint actuator. Modes for Carrying Out the Invention

[0098] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0099] In the description of the present disclosure, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present application, "multiple" means two or more, unless otherwise clearly and specifically defined.

[0100] It should be noted that the block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities.

[0101] Referring to Figures 1 to 7, Figure 1 is a structural schematic diagram of an exemplary hip structure, Figure 2 is a structural schematic diagram of the architecture of an exemplary hip structure, Figure 3 is a structural schematic diagram of an exemplary hip structure (including an embodiment of multiple hip joint actuators), Figure 4 is an exploded view of an exemplary hip structure, Figure 5 is a front view of an exemplary hip structure (including an embodiment of multiple waist actuators), Figure 6 is a side view of an exemplary hip structure (including an embodiment of multiple waist actuators), and Figure 7 is a structural schematic diagram of a waist actuator of an exemplary hip structure.

[0102] 1 and 2 , the present disclosure discloses a hip structure, including:

[0103] A first hip joint actuator 1 and a second hip joint actuator 2 are provided for performing hip motion of the robot.

[0104] The first hip joint actuator 1 and the second hip joint actuator 2 are arranged at an angle.

[0105] Specifically, the tilted arrangement includes an angle between the extension direction of the planar portion of the first hip joint actuator 1 (also referred to as the tilt direction of the first hip joint actuator 1) and the extension direction of the planar portion of the second hip joint actuator 2 (also referred to as the tilt direction of the second hip joint actuator 2), with the angle ranging from (0° to 180°). In related art, the hip joint actuators extend parallel to both sides of the waist actuator and are arranged side by side with the waist actuator. This approach results in low spatial compactness and a large hip structure. By tilting the first and second hip joint actuators 1 and 2, the hip space is contracted, thereby reducing the volume of the hip structure and improving spatial compactness, which facilitates miniaturization of the robot. Furthermore, if additional hip joint actuators are to be connected, they can be placed below the tilted portions of the first and second hip joint actuators 1 and 2, further reducing lateral space occupation, improving hip space utilization, and reducing interference between the ranges of motion of the hip joint actuators.

[0106] When the two hip joint actuators are tilted, they are not parallel to each other.

[0107] When the two hip joint actuators are tilted, the two axes of the two hip joint actuators may be in the same plane or may not be in the same plane.

[0108] When the two hip joint actuators are tilted and their axes are coplanar, the extended lines of the two axes have an intersection. The intersection can be located on the side of the hip joint away from the waist, on the side of the hip joint facing the robot's forward direction, on the side of the hip joint facing the robot's rear, on the left side of the hip joint, on the right side of the hip joint, or in other directions around the hip joint, and the present invention is not limited thereto.

[0109] It should be noted that, in the hip structure provided by the present disclosure, the first hip joint actuator 1 and the second hip joint actuator 2 can be symmetrically arranged or asymmetrically arranged. For example, in the application scenario of a humanoid robot, the symmetrical arrangement of the first hip joint actuator 1 and the second hip joint actuator 2 can make the movement balance of the humanoid robot good; in some special application scenarios, the asymmetrical arrangement of the first hip joint actuator 1 and the second hip joint actuator 2 can make the robot simulate a special gait. Specifically, there is no limitation to this. For the sake of convenience in the following description, the case where the first hip joint actuator 1 and the second hip joint actuator 2 are symmetrically arranged is used as an example, but it does not constitute a limitation to this.

[0110] In one possible implementation, referring to Figures 1-6, the first hip joint actuator 1 and the second hip joint actuator 2 are symmetrically and tilted, and the end of the first hip joint actuator 1 that is close to the robot's leg (not shown in the figures) (i.e., the lower end in the figures) is directly connected to the end of the second hip joint actuator 2 that is close to the robot's leg (i.e., the lower end in the figures). In other words, the first hip joint actuator 1 and the second hip joint actuator 2 have a contact connection portion. For example, the first hip joint actuator 1 and the second hip joint actuator 2 are arranged in a V-shape. This connection method makes the hip structure compact and occupies a small volume. For ease of explanation, the drawings of this application illustrate the first hip joint actuator 1 and the second hip joint actuator 2 arranged in a V-shape as an example, but this does not constitute a limitation of this application. This application makes the hip space compact and the volume reduced by tilting and gathering the first hip joint actuator 1 and the second hip joint actuator 2 into a V-shape.

[0111] In one possible implementation, referring to Figures 1-6 , the first hip joint actuator 1 and the second hip joint actuator 2 are symmetrically arranged. A gap exists between the end of the first hip joint actuator 1 near the robot's waist (not shown) (i.e., the upper end in the figures) and the end of the second hip joint actuator 2 near the robot's waist (i.e., the upper end in the figures). Furthermore, a gap exists between the end of the first hip joint actuator 1 near the robot's legs (i.e., the lower end in the figures) and the end of the second hip joint actuator 2 near the robot's legs (i.e., the lower end in the figures). In other words, there is no contact connection between the ends of the first hip joint actuator 1 and the second hip joint actuator 2. In this case, connectors (such as the first and second sub-connectors 51 and 52 in Figure 2 ) can be provided midway between the first and second hip joint actuators 1 and 2 to connect them midway. For example, the first and second hip joint actuators 1 and 2 can be arranged in an inverted figure-eight configuration. This connection method simplifies the hip structure and makes it easy to manufacture.

[0112] In the hip structure provided by the present disclosure, various connection methods can be used between the various separated components, for example, they can be connected by screw fixing. Of course, other connection methods can also be used, which are not limited here. The various separated components can be, for example, the first hip joint actuator 1 and the second hip joint actuator 2. In other words, the first hip joint actuator 1 and the second hip joint actuator 2 can be separately provided. Of course, the various components can also be integrally formed, so there is no need for splicing. Based on this, in one possible implementation, the first hip joint actuator 1 and the second hip joint actuator 2 are integrally formed. In this way, the first hip joint actuator 1 and the second hip joint actuator 2 do not need to be spliced, and the installation is simple and stable.

[0113] In a possible implementation, referring to FIG. 3 and FIG. 4 , the hip structure provided by the present disclosure further includes: a third hip joint actuator 01 and a fourth hip joint actuator 06 .

[0114] The third hip joint actuator 01 is connected to a side of the first hip joint actuator 1 facing away from the second hip joint actuator 2 ; and the fourth hip joint actuator 06 is connected to a side of the second hip joint actuator 2 facing away from the first hip joint actuator 1 .

[0115] The first and second hip joint actuators 1 and 2 execute hip motion in a first degree of freedom (DOF) direction, while the third and fourth hip joint actuators 01 and 06 execute hip motion in a second DOF direction. The first DOF direction differs from the second DOF direction. The robot's hips can move in different directions, with one DOF representing movement in one direction. That is, the connected first and third hip joint actuators 01 execute hip motion in different directions, while the connected second and fourth hip joint actuators 06 execute hip motion in different directions. Hip motion can have multiple DOF directions, such as rotation, forward swing, and sideways swing, without limitation.

[0116] In a possible implementation, referring to FIG. 3 and FIG. 4 , the hip structure provided by the present disclosure further includes: a fifth hip joint actuator 04 and a sixth hip joint actuator 09 .

[0117] The fifth hip joint actuator 04 is connected to the third hip joint actuator 01 ; the sixth hip joint actuator 09 is connected to the fourth hip joint actuator 06 .

[0118] The fifth hip joint actuator 04 and the sixth hip joint actuator 09 perform hip motion in the third degree of freedom direction, and the first degree of freedom direction is different from the second degree of freedom direction and the third degree of freedom direction.

[0119] That is, the connected first hip joint actuator 1, third hip joint actuator 01, and fifth hip joint actuator 04 each perform hip motion in different directions, while the connected second hip joint actuator 2, fourth hip joint actuator 06, and sixth hip joint actuator 09 each perform hip motion in different directions. Hip motion can have a variety of degrees of freedom, such as rotation, forward swing, and sideways swing, and these are not limited here.

[0120] It should be noted that the direction of the degrees of freedom executed by the above-mentioned connected first hip joint actuator 1-third hip joint actuator 01-fifth hip joint actuator 04 and their connection order can be changed, and can be connected in series or in partial parallel, without limitation here; the direction of the degrees of freedom executed by the second hip joint actuator 2-fourth hip joint actuator 06-sixth hip joint actuator 09 and their connection order can be changed, and can be connected in series or in partial parallel, without limitation here. The technical effect brought about by the above-mentioned features is that each hip joint actuator realizes different hip joint functions such as forward swing, rotation, and side swing respectively. The present invention is compatible with various sequences of hip joint actuator connection sequences, thereby realizing various modes of robot leg movement.

[0121] In a possible implementation, the first degree of freedom direction is a forward swing direction. In other words, the first hip joint actuator 1 and the second hip joint actuator 2 may be actuators for performing a forward swing movement of the hip.

[0122] Either the second or third degree of freedom is a roll direction, while the other is a rotation direction. In other words, the third hip joint actuator 01 and the fourth hip joint actuator 06 are actuators for hip rotation, while the fifth hip joint actuator 04 and the sixth hip joint actuator 09 are actuators for hip roll. Alternatively, they can be interchanged, without limitation. The accompanying drawings illustrate the example of the third hip joint actuator 01 and the fourth hip joint actuator 06 as actuators for hip rotation, and the fifth hip joint actuator 04 and the sixth hip joint actuator 09 as actuators for hip roll, but this is not intended to be limiting.

[0123] In the related technology, the hip rotation actuator and the hip lateral swing actuator are arranged on both sides of the waist actuator and are arranged parallel to the waist actuator, and the hip forward swing actuator is arranged below the hip rotation actuator and the hip lateral swing actuator, and the knee forward swing actuator is arranged side by side with the hip forward swing actuator. Under this design, on the one hand, when the hip swings forward, the hip forward swing actuator will counteract the hip rotation actuator and the hip lateral swing actuator, resulting in a limited forward swing angle; on the other hand, since the knee forward swing actuator and the hip forward swing actuator are arranged side by side, the volume occupied by the knee forward swing actuator is large, and the knee forward swing actuator will protrude toward the inside of the leg. Therefore, when doing an inward cross step, the inside of the leg is blocked by the protruding knee forward swing actuator, resulting in that when the two legs cross to a certain angle, the protruding knee forward swing actuator on the inside of the leg will counteract each other and cannot continue to cross, thereby limiting the inward swing range. The hip forward swing actuator provided by the present invention In the structure, in an embodiment in which the first hip joint actuator 1 and the second hip joint actuator 2 can be actuators for executing the forward swinging motion of the hip, the forward swinging hip actuator usually has a large range of motion and a large volume. By moving the first hip joint actuator 1 and the second hip joint actuator 2 for executing the forward swinging hip motion upward and placing them at the upper end of the hip structure, and arranging them at an angle, on the one hand, the hip space is contracted and the space compactness is improved, so that other hip actuators (such as the third hip joint actuator 01 and the fourth hip joint actuator 06) can be connected below the inclined parts of the first hip joint actuator 1 and the second hip joint actuator 2; on the other hand, when the first hip joint actuator 1 and the second hip joint actuator 2 execute the forward swinging motion of the hip, since the other hip actuators move downward, there is no obstruction of other hip actuators within the entire forward swinging rotation range, thereby effectively increasing the forward swinging range. Furthermore, by moving the larger hip forward swing actuator upward to the top of the hip structure, and thereby connecting other leg actuators (such as the knee forward swing actuator) to the bottom end of the hip actuator (such as the bottom end of the third hip joint actuator 01 and the fourth hip joint actuator 06), since there are no actuators arranged side by side, there will be no protruding actuators on the inner side of the leg to block the range of the inner swing cross, thereby effectively increasing the inner swing range of the hip, so that the robot using the hip structure provided by the present invention can perform a crossover step.

[0124] It should be noted that the placement of each hip joint actuator includes multiple implementation methods, which are not limited here. In one possible implementation method, referring to Figures 3 and 4, the angle between the rotation axis direction D2 of the first hip joint actuator 1 and the tilt direction D1 of the first hip joint actuator 1 is 90 degrees; the rotation axis direction D3 of the third hip joint actuator 01 and the rotation axis direction D2 of the first hip joint actuator 1 form an angle.

[0125] Correspondingly, the angle between the rotation axis direction of the second hip joint actuator 2 and the tilt direction of the second hip joint actuator 2 is 90 degrees; the rotation axis direction of the fourth hip joint actuator 06 and the rotation axis direction of the second hip joint actuator 2 form an angle.

[0126] In this embodiment, the first hip joint actuator 1 and the second hip joint actuator 2 are arranged at an angle, and the third hip joint actuator 01 and the fourth hip joint actuator 06 connected to the lower outer side thereof can be arranged vertically, and the orthographic projections of the third hip joint actuator 01 and the fourth hip joint actuator 06 in the vertical direction partially overlap with the orthographic projections of the first hip joint actuator 1 and the second hip joint actuator 2 in the vertical direction, further forming a compact hip structure.

[0127] In one possible implementation, referring to FIG. 3 and FIG. 4 , the included angle between the rotation axis direction D3 of the third hip joint actuator 01 and the rotation axis direction D4 of the fifth hip joint actuator 04 is 90 degrees.

[0128] Correspondingly, the angle between the rotation axis direction of the fourth hip joint actuator 06 and the rotation axis direction of the sixth hip joint actuator 09 is 90 degrees.

[0129] In this embodiment, the third hip joint actuator 01 and the fourth hip joint actuator 06 can be set vertically, and the fifth hip joint actuator 04 and the sixth hip joint actuator 09 can be placed horizontally on the sides of the third hip joint actuator 01 and the fourth hip joint actuator 06, respectively, to form a dual-actuator vertical output end structure.

[0130] Furthermore, the vertical projections of the fifth hip joint actuator 04 and the sixth hip joint actuator 09 partially overlap with the vertical projections of the first hip joint actuator 1 and the second hip joint actuator 2 , further forming a compact hip structure.

[0131] It should be noted that the connection method of each hip joint actuator includes multiple implementation methods, which are not limited here. In one possible implementation method, referring to Figures 3 and 4, the hip structure provided by the present disclosure also includes: a first hip connector 03 and a second hip connector 02 for fixing the third hip joint actuator 01; a third hip connector 08 and a fourth hip connector 07 for fixing the fourth hip joint actuator 06.

[0132] Among them, for one side of the first hip joint actuator 1, the first hip connector 03 is provided with a first accommodating portion 031 for accommodating the third hip joint actuator 01; one end of the second hip connector 02 is connected to the side of the first hip joint actuator 1 facing away from the second hip joint actuator 2, and the other end of the second hip connector 02 is connected to the outer side of the first accommodating portion 031.

[0133] On one side of the second hip joint actuator 2, the third hip connector 08 is provided with a second accommodating portion 081 for accommodating the fourth hip joint actuator 06; one end of the fourth hip connector 07 is connected to the side of the second hip joint actuator 2 facing away from the first hip joint actuator 1, and the other end of the fourth hip connector 07 is connected to the outer side of the second accommodating portion 081.

[0134] In a possible implementation, referring to FIG. 3 and FIG. 4 , the hip structure provided by the present disclosure further includes: a fifth hip connector 05 for fixing the fifth hip joint actuator 04 ; and a sixth hip connector 10 for fixing the sixth hip joint actuator 09 .

[0135] Among them, on the side of the first hip joint actuator 1, the fifth hip connector 05 is provided with a third accommodating portion 051 for accommodating the fifth hip joint actuator 04, and the fifth hip connector 05 is provided with a first fixing portion 052, which is connected to the side of the first hip joint actuator 1 away from the second hip joint actuator 2; the first hip connector 03 is provided with a second fixing portion 032, which is connected to the side of the fifth hip joint actuator 04 close to the third hip joint actuator 01.

[0136] On the side of the second hip joint actuator 2, the sixth hip connector 10 is provided with a fourth accommodating portion 101 for accommodating the sixth hip joint actuator 09. The sixth hip connector 10 is provided with a third fixing portion 102, which is connected to the side of the second hip joint actuator 2 facing away from the first hip joint actuator 1; the third hip connector 08 is provided with a fourth fixing portion 082, which is connected to the side of the sixth hip joint actuator 09 close to the fourth hip joint actuator 06.

[0137] The aforementioned accommodating portions and fixing portions may be provided separately or integrally formed, which is not limited here.

[0138] In a possible implementation, referring to FIG. 4 to FIG. 6 , the hip structure provided by the present disclosure further includes: a waist actuator for executing waist movements of the robot (for example: the first waist actuator 3 and / or the second waist actuator 4 in FIG. 5 to FIG. 6 );

[0139] The sides of the first and second hip joint actuators 1 and 2 that are adjacent to each other (in other words, their inner sides) jointly define an internal accommodating space S, and the lumbar actuator is located within this internal accommodating space S. Furthermore, the bottom of the lumbar actuator is lower than the top of the first hip joint actuator 1 and lower than the top of the second hip joint actuator 2. Furthermore, the bottom of the lumbar actuator is higher than the bottom of the first hip joint actuator 1 and higher than the bottom of the second hip joint actuator 2. In other words, the inner sides of the first and second hip joint actuators 1 and 2 face each other, thereby enclosing an internal accommodating space for the lumbar actuator.

[0140] Through this structure, the lumbar actuator is arranged in the internal accommodating space S formed by the first hip joint actuator 1 and the second hip joint actuator 2 on both sides, in other words, the lumbar actuator is arranged inside the hip structure, so that the volume of the hip structure is reduced and the spatial compactness is improved. In addition, the first hip joint actuator 1 and the second hip joint actuator 2 can limit the lumbar actuator and protect the lumbar actuator inside to prevent the lumbar actuator from being exposed to the outside and being collided and scratched.

[0141] It should be noted that, according to the overall design of the robot, the internal accommodating space S can also be connected to the mechanisms or actuators of other parts of the robot. For example, the internal accommodating space S can be directly connected to the chest part of the robot, which is not limited here.

[0142] In one possible implementation, referring to Figures 1-4 , the hip structure provided herein further includes a waist actuator connector (e.g., 5, 6, and 7 in Figure 3 ) for securing the waist actuator. The waist actuator connector is located within the internal accommodation space S and connects the first hip joint actuator 1 and the second hip joint actuator 2. To secure the waist actuator within the internal accommodation space S, the waist actuator connector is disposed within the internal accommodation space S and is connected to the waist actuator and the two hip joint actuators.

[0143] It should be noted that the number of lumbar actuators is one or more and can be set as needed. In an embodiment with multiple numbers, all lumbar actuators can be placed in the internal accommodating space S, or some lumbar actuators can be placed in the internal accommodating space S, and there is no limitation here.

[0144] It should be noted that in the present disclosure, the lumbar actuator is a rotary actuator having a rotary actuator output end, which rotates around the output shaft. The side of the lumbar actuator away from the output end is the rear end, and a driving component, such as a motor, can be set, which is not limited here.

[0145] In a possible implementation, the number of the waist actuator is one. Based on this, the waist actuator connector includes: a first sub-connector 51 and a second sub-connector 52 .

[0146] Among them, the main body of the first sub-connector 51 is connected to the output end of the waist actuator, and the connecting parts of the first sub-connector 51 located on both sides of the main body are respectively connected to the first hip joint actuator 1 and the second hip joint actuator 2. In other words, the first sub-connector 51 fixes the output end of the waist actuator between the first hip joint actuator 1 and the second hip joint actuator 2.

[0147] The main body of the second sub-connector 52 is connected to the rear end of the lumbar actuator on the side away from the output end. The connecting portions of the second sub-connector 52 located on both sides of the main body are connected to the first hip joint actuator 1 and the second hip joint actuator 2 respectively. In other words, the second sub-connector 52 fixes the rear end of the lumbar actuator between the first hip joint actuator 1 and the second hip joint actuator 2. Through the cooperation of the first sub-connector 51 and the second sub-connector 52, the lumbar actuator is fixed in the internal accommodation space S formed by the first hip joint actuator 1 and the second hip joint actuator 2. It should be noted that in the above embodiment, the lumbar actuator can be an actuator for performing lumbar movements with any degree of freedom. The degrees of freedom of lumbar movements include: rotational movement, lateral movement, pitching movement, etc., which are not limited here.

[0148] In one possible implementation, there are multiple lumbar actuators. Based on this, the lumbar actuator connector includes: multiple connecting assemblies that respectively connect the multiple lumbar actuators, i.e., the multiple connecting assemblies are used to fix the multiple lumbar actuators; and an intermediate connector that connects the multiple lumbar actuators, and the intermediate connector is used to connect any n lumbar actuators in series, where n is an integer greater than or equal to 2.

[0149] In a possible implementation, referring to FIG. 4 to FIG. 7 , the lumbar actuator includes a first lumbar actuator 3 and a second lumbar actuator 4 .

[0150] The waist actuator connecting member includes: a first connecting component 5 for fixing the first waist actuator 3, a second connecting component 6 for fixing the second waist actuator 4, and a first intermediate connecting member 7 connected to the first waist actuator 3 and the second waist actuator 4.

[0151] Wherein, the first connection component 5 includes:

[0152] The first sub-connector 51 has a main body connected to the output end 31 of the first waist actuator 3, and the connecting parts of the first sub-connector 51 located on both sides of the main body are connected to the first hip joint actuator 1 and the second hip joint actuator 2 respectively.

[0153] The second sub-connector 52, the main body of the second sub-connector 52 is connected to the rear end 32 of the first lumbar actuator 3 away from the output end 31, and the connecting parts of the second sub-connector 52 located on both sides of the main body are respectively connected to the first hip joint actuator 1 and the second hip joint actuator 2.

[0154] The second connection component 6 includes:

[0155] The third sub-connector 61 is connected to the output end 41 of the second waist actuator 4;

[0156] The fourth sub-connector 62 is connected to the rear end 42 of the second waist actuator 4 away from the output end 41;

[0157] The fifth sub-connector 63, one end of the fifth sub-connector 63 is connected to the third sub-connector 61, the other end of the fifth sub-connector 63 is connected to the fourth sub-connector 62, the fifth sub-connector 63 is used to connect and fix the third sub-connector 61 and the fourth sub-connector 62, and the lower side of the fifth sub-connector 63 is in contact with the second waist actuator 4.

[0158] The first intermediate connector 7 has a first hollow portion and a second hollow portion. The first hollow portion is used to accommodate the first lumbar actuator 3. The first sub-connector 51 and the second sub-connector 52 are located on either side of the first hollow portion along the axis of the first hollow portion. The second hollow portion is used to accommodate the second lumbar actuator 4. The third sub-connector 61 and the fourth sub-connector 62 are located on either side of the second hollow portion along the axis of the second hollow portion. Through the above-described connection structure, the first lumbar actuator 3 is placed in the internal accommodation space S formed by the first hip joint actuator 1 and the second hip joint actuator 2 through the cooperation of the first sub-connector 51 and the second sub-connector 52. The first lumbar actuator 3 and the second lumbar actuator 4 are connected in series through the first intermediate connector 7. The second lumbar actuator 4 is fixed to the first intermediate connector 7 through the third sub-connector 61, the fourth sub-connector 62, and the fifth sub-connector 63, thereby achieving the series connection of the first lumbar actuator 3 and the second lumbar actuator 4. The first lumbar actuator 3 and the second lumbar actuator 4 are then placed in the internal accommodation space S.

[0159] In one possible implementation, referring to Figures 5 to 7, the first waist actuator 3 and the second waist actuator 4 are arranged along the height direction of the robot (i.e., the direction perpendicular to the ground), and the angle between the rotation axis direction of the first waist actuator 3 and the rotation axis direction of the second waist actuator 4 is 90 degrees; and the angle between the orientation of the first hollow portion and the orientation of the second hollow portion is 90 degrees. Through this structure, the first waist actuator 3 and the second waist actuator 4 are staggered at 90 degrees, forming a dual-actuator vertical output module with vertical output function, and improving the integration of the waist actuator and reducing the weight of the hip structure.

[0160] In one possible implementation, based on the above-mentioned embodiment of the first lumbar actuator 3 and the second lumbar actuator 4 forming a dual-actuator vertical output module, the first hip joint actuator 1 and the second hip joint actuator 2 are symmetrically and tilted, for example, arranged in a V shape, and the center line of the angle formed by the tilt direction of the first hip joint actuator 1 and the tilt direction of the second hip joint actuator 2 is called the first center line. For example, the center line of the V-shaped angle is the first center line, and the arrangement direction of the first lumbar actuator 3 and the second lumbar actuator 4 coincides with the first center line, that is, the first lumbar actuator 3 and the second lumbar actuator 4 forming the vertical output module are arranged on the center line of the V-shaped angle, thereby improving the symmetry of the hip structure and thereby improving the movement balance of the robot.

[0161] In one possible implementation, in an embodiment where the waist actuator includes a first waist actuator 3 and a second waist actuator 4, based on the above-described embodiment, one of the first waist actuator 3 and the second waist actuator 4 is an actuator for performing lateral movement of the robot's waist, while the other is an actuator for performing pitch movement of the robot's waist. In other words, the waist actuator located below can be an actuator for lateral movement or pitch movement, without limitation. For ease of explanation, the accompanying drawings illustrate the first waist actuator 3 located below as an actuator for lateral movement. Obviously, when the first waist actuator 3 located below is an actuator for pitch movement, the structures of the first sub-connector 51 and the second sub-connector 52 are modified accordingly based on the orientation of the actuator for pitch movement.

[0162] In one possible implementation, referring to FIG4 , the lumbar actuator may further include: a third lumbar actuator 8; based on the above embodiment, in the second connecting component 6, a connecting and fixing structure adapted to the third lumbar actuator 8 is provided on the side of the fifth sub-connector 63 facing away from the second lumbar actuator 4, and the third lumbar actuator 8 is fixed on the side of the fifth sub-connector 63 facing away from the second lumbar actuator 4 through the connecting and fixing structure, thereby realizing the series connection of the first lumbar actuator 3, the second lumbar actuator 4 and the third lumbar actuator 8. The third lumbar actuator 8 can, for example, be an actuator for performing rotational movement of the waist.

[0163] It should be noted that the connection order of the first lumbar actuator 3, the second lumbar actuator 4 and the third lumbar actuator 8, and the execution mode of the movement can be set as needed and are not limited here.

[0164] In a possible implementation, referring to FIG3 and FIG4 , the first hip joint actuator 1 includes: a first hip joint actuator body 11 , and a first hip joint actuator housing 12 connected to the first hip joint actuator body 11 on a side close to the waist actuator;

[0165] The second hip joint actuator 2 includes: a second hip joint actuator body 21 and a second hip joint actuator housing 22 connected to the second hip joint actuator body 21 on a side close to the waist actuator.

[0166] The present disclosure provides a robot comprising the above-mentioned hip structure, which can improve the spatial compactness of the robot's hip structure, reduce the volume of the hip structure, and further increase the mobility of the hip structure.

[0167] In the technical solutions disclosed herein, the acquisition, storage, and application of user personal information involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0168] It should be noted that, although several modules or units of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiment of the application, the features and functions of two or more modules or units described above can be concretized in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into multiple modules or units to be concretized.

[0169] Those skilled in the art will readily conceive of other embodiments of the present application after considering the specification and practicing the contents disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art that are not disclosed in this application.

[0170] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A hip structure comprising: a first hip joint actuator and a second hip joint actuator for performing hip motion of the robot; Wherein, the first hip joint actuator and the second hip joint actuator are arranged at an angle.

2. The hip structure according to claim 1, wherein: The first hip joint actuator and the second hip joint actuator are symmetrically arranged; One end of the first hip joint actuator close to the leg of the robot and one end of the second hip joint actuator close to the leg of the robot are directly connected.

3. The hip structure according to claim 1, wherein: The first hip joint actuator and the second hip joint actuator are symmetrically arranged; There is a gap between one end of the first hip joint actuator close to the waist of the robot and one end of the second hip joint actuator close to the waist of the robot; A gap is formed between one end of the first hip joint actuator close to the leg of the robot and one end of the second hip joint actuator close to the leg of the robot.

4. The hip structure according to any one of claims 1 to 3, wherein: The hip structure further comprises: a third hip joint actuator, connected to a side of the first hip joint actuator facing away from the second hip joint actuator; a fourth hip joint actuator, connected to a side of the second hip joint actuator facing away from the first hip joint actuator; wherein the first hip joint actuator and the second hip joint actuator perform hip motion in a first degree of freedom direction; The third hip joint actuator and the fourth hip joint actuator perform hip motion in a second degree of freedom direction, and the first degree of freedom direction is different from the second degree of freedom direction.

5. The hip structure according to claim 4, wherein: The hip structure further comprises: a fifth hip joint actuator, connected to the third hip joint actuator; a sixth hip joint actuator, connected to the fourth hip joint actuator; The fifth hip joint actuator and the sixth hip joint actuator perform hip motion in a third degree of freedom direction, and the first degree of freedom direction is different from the second degree of freedom direction and the third degree of freedom direction.

6. The hip structure according to claim 5, wherein: The first degree of freedom direction is the forward swing direction; Either one of the second degree of freedom direction and the third degree of freedom direction is a roll direction, and the other is a rotation direction.

7. The hip structure according to claim 6, wherein: The included angle between the rotation axis direction of the first hip joint actuator and the tilt direction of the first hip joint actuator is 90 degrees; the rotation axis direction of the third hip joint actuator and the rotation axis direction of the first hip joint actuator form an included angle; The included angle between the rotation axis direction of the second hip joint actuator and the tilt direction of the second hip joint actuator is 90 degrees; the rotation axis direction of the fourth hip joint actuator and the rotation axis direction of the second hip joint actuator form an included angle.

8. The hip structure according to claim 7, wherein: The included angle between the rotation axis direction of the third hip joint actuator and the rotation axis direction of the fifth hip joint actuator is 90 degrees; The included angle between the rotation axis direction of the fourth hip joint actuator and the rotation axis direction of the sixth hip joint actuator is 90 degrees.

9. The hip structure according to claim 6, wherein: The hip structure further comprises: a first hip connector and a second hip connector for fixing the third hip joint actuator; a third hip connector and a fourth hip connector for fixing the fourth hip joint actuator; The first hip connector is provided with a first accommodating portion for accommodating the third hip joint actuator; one end of the second hip connector is connected to a side of the first hip joint actuator facing away from the second hip joint actuator, and the other end of the second hip connector is connected to an outer side of the first accommodating portion; The third hip connector is provided with a second accommodating portion for accommodating the fourth hip joint actuator; one end of the fourth hip connector is connected to a side of the second hip joint actuator facing away from the first hip joint actuator, and the other end of the fourth hip connector is connected to the outer side of the second accommodating portion.

10. The hip structure according to claim 9, wherein: The hip structure further comprises: a fifth hip connector for fixing the fifth hip joint actuator; a sixth hip connector for fixing the sixth hip joint actuator; The fifth hip connector is provided with a third accommodating portion for accommodating the fifth hip joint actuator. The fifth hip connector is provided with a first fixing portion connected to a side of the first hip joint actuator facing away from the second hip joint actuator. The first hip connector is provided with a second fixing portion connected to a side of the fifth hip joint actuator close to the third hip joint actuator. The sixth hip connector is provided with a fourth accommodating portion for accommodating the sixth hip joint actuator. The sixth hip connector is provided with a third fixing portion connected to the side of the second hip joint actuator facing away from the first hip joint actuator; the third hip connector is provided with a fourth fixing portion connected to the side of the sixth hip joint actuator close to the fourth hip joint actuator.

11. The hip structure according to any one of claims 1 to 3, wherein: The hip structure further comprises: a waist actuator for performing waist movements of the robot; Wherein, the sides of the first hip joint actuator and the second hip joint actuator that are close to each other jointly define an internal accommodating space, and the waist actuator is located in the internal accommodating space.

12. The hip structure according to claim 11, wherein: The hip structure further includes a waist actuator connecting member for fixing the waist actuator, the connecting member being located in the internal accommodation space and connecting the first hip joint actuator and the second hip joint actuator.

13. The hip structure according to claim 12, wherein: The number of the waist actuator is one; The waist actuator connector includes: a first sub-connector, a main body of the first sub-connector connected to the output end of the waist actuator, and connecting parts of the first sub-connector located on both sides of the main body connected to the first hip joint actuator and the second hip joint actuator respectively; A second sub-connector, the main body of the second sub-connector is connected to the rear end of the waist actuator away from the output end, and the connecting parts of the second sub-connector located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator.

14. The hip structure according to claim 12, wherein: There are multiple waist actuators; The waist actuator connecting member includes: a plurality of connecting components respectively connected to the plurality of waist actuators, and an intermediate connecting member connecting the plurality of waist actuators.

15. The hip structure according to claim 14, wherein: The waist actuator includes a first waist actuator and a second waist actuator; The waist actuator connecting member includes: a first connecting component for fixing the first waist actuator, a second connecting component for fixing the second waist actuator, and a first intermediate connecting member connected to the first waist actuator and the second waist actuator; Wherein, the first connection component includes: a first sub-connector, wherein the main body of the first sub-connector is connected to the output end of the first lumbar actuator, and the connecting parts of the first sub-connector located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator; a second sub-connector, wherein the main body of the second sub-connector is connected to the rear end of the first lumbar actuator away from the output end, and the connecting parts of the second sub-connector located on both sides of the main body are respectively connected to the first hip joint actuator and the second hip joint actuator; The second connection component includes: a third sub-connector, connected to the output end of the second waist actuator; a fourth sub-connector, connected to a rear end of the second waist actuator facing away from the output end; a fifth sub-connector, one end of which is connected to the third sub-connector and the other end of which is connected to the fourth sub-connector; The first intermediate connecting member is provided with a first hollow portion and a second hollow portion. The first hollow portion is used to place the first lumbar actuator, and the second hollow portion is used to place the second lumbar actuator.

16. The hip structure according to claim 15, wherein: The first waist actuator and the second waist actuator are arranged along the height direction of the robot, and the angle between the rotation axis direction of the first waist actuator and the rotation axis direction of the second waist actuator is 90 degrees; The included angle between the orientation of the first hollow portion and the orientation of the second hollow portion is 90 degrees.

17. The hip structure according to claim 16, wherein: The center line of the angle formed by the inclination direction of the first hip joint actuator and the inclination direction of the second hip joint actuator is called the first center line; The arrangement direction of the first lumbar actuator and the second lumbar actuator coincides with the first center line.

18. The hip structure according to claim 15, wherein: Either one of the first waist actuator and the second waist actuator is an actuator for executing a lateral swing motion of the robot's waist, and the other is an actuator for executing a pitching motion of the robot's waist.

19. The hip structure according to claim 15, wherein: The lumbar actuator also includes: a third lumbar actuator; a connecting and fixing structure adapted to the third lumbar actuator is provided on the side of the fifth sub-connector facing away from the second lumbar actuator, and the third lumbar actuator is fixed to the side of the fifth sub-connector facing away from the second lumbar actuator through the connecting and fixing structure.

20. The hip structure according to any one of claims 1 to 3, wherein: The first hip joint actuator comprises: a first hip joint actuator body, and a first hip joint actuator housing connected to a side of the first hip joint actuator body close to the waist actuator; The second hip joint actuator includes: a second hip joint actuator body, and a second hip joint actuator housing connected to a side of the second hip joint actuator body close to the waist actuator.

21. A robot comprising: A hip structure according to any one of claims 1 to 20.

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